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公开(公告)号：US20210223056A1
公开(公告)日：2021-07-22
申请号：US17221309
申请日：2021-04-02
Inventor： Teng ZHANG
Abstract: A method and an apparatus for generating a route planning model and a storage medium are provided. The method for generating a route planning model includes: obtaining a target route data set associated with a target site; and determining a target route planning model of the target site with a site optimization object corresponding to the target site, based on the target route data set and a first route planning model; wherein the first route planning model is determined based on a set of historical route data through at least a first training, the set of historical route data being associated with a plurality of sites different from the target site and a first training optimization object for the first training corresponding to the plurality of sites.
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公开(公告)号：US20210216077A1
公开(公告)日：2021-07-15
申请号：US17216208
申请日：2021-03-29
Inventor： Teng ZHANG
Abstract: A method for training a trajectory planning model, an apparatus, and computer storage medium are provided. The method may include: obtaining an image of a physical environment in which a vehicle is located via at least one sensor of the vehicle, the image including multiple objects surrounding the vehicle; obtaining a feature chart indicating multiple initial trajectory points of the vehicle in the image from a trajectory planning model based on the image; identifying the image to determine in the image a first area associated with a road object in multiple objects and a second area associated with a non-road object in the multiple objects; determining a planning trajectory point based on positional relationship of the multiple initial trajectory points with respect to the first area and the second area; and training a trajectory planning model based on the planning track point and the actual trajectory point of the vehicle.
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